Related papers: Scalable Real-Time Vehicle Deformation for Interac…
Interactive perception enables robots to manipulate the environment and objects to bring them into states that benefit the perception process. Deformable objects pose challenges to this due to significant manipulation difficulty and…
Action-conditioned video prediction models (often referred to as world models) have shown strong potential for robotics applications, but existing approaches are often slow and struggle to capture physically consistent interactions over…
Exploring and modeling heterogeneous elastic surfaces requires multiple interactions with the environment and a complex selection of physical material parameters. The most common approaches model deformable properties from sets of offline…
Step-and-project is a popular way to simulate non-penetrated deformable bodies in physically-based animation. First integrating the system in time regardless of contacts and post resolving potential intersections practically strike a good…
The static world assumption is standard in most simultaneous localisation and mapping (SLAM) algorithms. Increased deployment of autonomous systems to unstructured dynamic environments is driving a need to identify moving objects and…
Real-time proprioception is a challenging problem for soft robots, which have almost infinite degrees-of-freedom in body deformation. When multiple actuators are used, it becomes more difficult as deformation can also occur on actuators…
In this work we present a novel approach for computing correspondences between non-rigid objects, by exploiting a reduced representation of deformation fields. Different from existing works that represent deformation fields by training a…
We use reinforcement learning in simulation to obtain a driving system controlling a full-size real-world vehicle. The driving policy takes RGB images from a single camera and their semantic segmentation as input. We use mostly synthetic…
Compression of soft bodies is central to biology, materials science, and robotics, yet existing contact theories break down at large deformations. Here, we develop a general framework for soft-body compression by extending the method of…
Robotic manipulation policies are advancing rapidly, but their direct evaluation in the real world remains costly, time-consuming, and difficult to reproduce, particularly for tasks involving deformable objects. Simulation provides a…
When we move on snow, sand, or mud, the ground deforms under our feet, immediately affecting our gait. We propose a physically based model for computing such interactions in real time, from only the kinematic motion of a virtual character.…
Current validation methods often rely on recorded data and basic functional checks, which may not be sufficient to encompass the scenarios an autonomous vehicle might encounter. In addition, there is a growing need for complex scenarios…
Information about the vehicle sideslip angle is crucial for the successful implementation of advanced stability control systems. In production vehicles, sideslip angle is difficult to measure within the desired accuracy level because of…
This paper presents a method for generating a turbulent velocity field that can be used as an input for the temporal simulation in wind excited structure problems. Temporal simulations become necessary when nonlinear behaviour, in the…
Robotic manipulation of deformable and fragile objects presents significant challenges, as excessive stress can lead to irreversible damage to the object. While existing solutions rely on accurate object models or specialized sensors and…
Modeling the dynamic behavior of deformable objects is crucial for creating realistic digital worlds. While conventional simulations produce high-quality motions, their computational costs are often prohibitive. Subspace simulation…
Intelligent agents need a physical understanding of the world to predict the impact of their actions in the future. While learning-based models of the environment dynamics have contributed to significant improvements in sample efficiency…
This paper investigates how learning can be used to ease the design of high-quality paths for the assembly of deformable objects. Object dynamics plays an important role when manipulating deformable objects; thus, detailed models are often…
Autonomous vehicles rely heavily upon their perception subsystems to see the environment in which they operate. Unfortunately, the effect of variable weather conditions presents a significant challenge to object detection algorithms, and…
Detecting and characterising vehicles is one of the purposes of embedded systems used in intelligent environments. An analysis of a vehicle characteristics can reveal inappropriate or dangerous behaviour. This detection makes it possible to…